New implicitfast integrator and sparse RNE derivatives for implicit.

PiperOrigin-RevId: 516910733 Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:16:45 -07:00
parent 056e849273
commit 8c7f6ce5a0
23 changed files with 961 additions and 332 deletions
@@ -117,6 +117,7 @@
    X( nnames_map )         \
    X( nM )                 \
    X( nD )                 \
+    X( nB )                 \
    X( nemax )              \
    X( njmax )              \
    X( nconmax )            \
@@ -514,6 +515,9 @@
    X( int,       D_rownnz,          nv,          1           ) \
    X( int,       D_rowadr,          nv,          1           ) \
    X( int,       D_colind,          nD,          1           ) \
+    X( int,       B_rownnz,          nbody,       1           ) \
+    X( int,       B_rowadr,          nbody,       1           ) \
+    X( int,       B_colind,          nB,          1           ) \
    X( mjtNum,    qDeriv,            nD,          1           ) \
    X( mjtNum,    qLU,               nD,          1           ) \
    X( mjtNum,    actuator_force,    nu,          1           ) \